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Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage

Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage. Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDA Graduate School of Engineering, Tohoku University, JAPAN.

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Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage

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  1. Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDAGraduateSchool of Engineering, Tohoku University, JAPAN • In our proposal, a crawler vehicle can estimate the slip ratios using information from encoders and a gyro-sensor. • The estimated slip ratios improve an accuracy of the odometry of crawler vehicle. • The validity of the proposed odometry system was evaluated by performing a basic experiment using an actual crawler vehicle. • The left figure shows an accuracy of our odometry system in curve-trajectory in comparison with other methods.

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